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RoboCrane is an innovative, cable-driven, manipulator invented by the NIST Intelligent Systems Division (ISD) and further developed and adapted for specialized applications over a period of several years [10, 11, 12]. The basic RoboCrane is an inverted Stewart platform parallel-link manipulator with cables and winches serving as the links and actuators, respectively. The moveable platform, or “lower triangle,” is kinematically constrained by maintaining tension in all six cables that terminate in pairs at the vertices of an “upper triangle” formed by the cable support points. This arrangement provides improved load stability over traditional lift systems and enables 6 DOF payload control.


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